Apparatus and method for intelligent grade control on a grading machine

ABSTRACT

A grading machine and method for grading a ground surface including a machine body, a drawbar frame coupled to the machine body, a movable grading device coupled to the drawbar frame, a drive arrangement coupled to the drawbar frame and a circle member, a pitch frame coupled to the circle member, a movable grading device coupled to the pitch frame, a right lift linkage arrangement, a left lift linkage arrangement, a circle member side shift linkage arrangement, a grading device side shift linkage, a pitch actuator, a user interface, and a control system. The control system is configured to receive an input command from the user interface for a target grading device movement and adjust one or more of the right lift actuator, the left lift actuator, the side shift actuator, and the drive arrangement to achieve the target grading device movement using a first control pattern or a second control pattern.

CROSS-REFERENCE TO RELATED APPLICATIONS Field of the Disclosure

The present disclosure relates to a grading machine, such as a motor grader, and method for grading a surface. In particular, the grading machine including a control system for achieving a target grading device movement using either a first control pattern or a second control pattern.

BACKGROUND

Grading machines such as motor graders, typically operate movement commands of a ground-engaging element with individual input commands from the operator for actuators to move grading devices. However, this form of control heavily relies on an operator's experience and mastery of maneuvering movement of the ground-engaging device with precision. Because of the linkage kinematics on a motor grader, therein lies an opportunity to ease operation of the grading machine when desiring precise movement of a target grading device without a heavy reliance on operator input.

SUMMARY

The present application discloses an apparatus and method for grading a ground surface.

In a first embodiment, the grading machine comprises a machine body, a drawbar frame, a circle member coupled to the drawbar frame, a pitch frame, movable grading device coupled to the pitch frame, a drive arrangement, a right lift linkage arrangement, a left lift linkage arrangement, a circle member side shift linkage arrangement, a grading device side shift actuator, a pitch actuator, a user interface and a control system. In one embodiment, the movable grading device includes a top portion, a lower portion, a left reference point in a left portion and a right reference point in a right portion. The drive arrangement is coupled to the drawbar frame and the circle member for rotation thereof about a circle axis. The right lift linkage arrangement is coupled to the drawbar frame for lifting the right portion of the drawbar frame with a right lift actuator. The left lift linkage arrangement is coupled to the drawbar frame for lifting the left portion of the drawbar frame with a left lift actuator. The circle member side shift linkage arrangement is coupled to the drawbar frame for side shifting the drawbar frame with a circle member side shift actuator. The pitch actuator is coupled to the top portion of the movable grading device. The control system is configured to receive an input command from the user input interface for a target grading device movement and extend or retract one or more of the right lift actuator, the left lift actuator, the circle member side shift actuator, a grading device side shift actuator and the drive arrangement in a timed relationship to achieve the target grading device movement using a first control pattern or a second control pattern.

The first control pattern may be performed with the input command for each actuator and the second control pattern is performed with the input command for at least one actuator and a computation of automatically adjusting at least one other actuator to achieve the target grading device movement.

When the target grading device movement is a side shifting of the movable grading device, the first control pattern actuates movement of the movable grading device along a cross slope connecting the left reference point and the right reference point by actuating the grading device side shift actuator. The second control pattern actuates movement of the movable grading device lateral relative to the machine body while maintain the cross slope, and a height of the left reference point and the right reference point relative to the ground surface.

When the target grading device movement is a side shifting of the movable grading device, the first control pattern actuates movement of the movable grading device along a lower edge of the movable grading device wherein the lower edge of the movable grading device defines a cross slope. The second control pattern actuates movement of the movable grading device lateral relative to the machine body while maintaining a height of the left reference point and the right reference point relative to the ground surface.

When the target grading device movement of the movable grading device is in a direction of roll, the first control pattern actuates the left lift actuator while maintaining the right lift actuator stationary. The second control pattern actuates the left lift actuator while maintaining the right reference point at a same height relative to the machine body to achieve the target grading device movement.

When the target grading device movement of the movable grading device is in a direction of pitch, the first control pattern actuates the pitch actuator. The second control pattern actuates one or more of the drive arrangement, the left lift actuator, the right lift actuator, the pitch actuator, the circle member side shift actuator and the grading device side shift actuator while a lower edge of the movable grading device remains stationary relative to the machine body.

When the target grading device movement of the movable grading device is in a direction of yaw, the first control pattern actuates the drive arrangement to rotate the circle member about the circle axis. The second control pattern actuates one or more of the drive arrangement, the left lift actuator, the right lift actuator, the pitch actuator, the circle member side shift actuator and the grading device side shift actuator to rotate the movable grading device about a central axis of the movable grading device.

The first control pattern may actuate movement of the movable grading device relative to the machine body. The second control pattern actuates movement of the movable grading device relative to a direction of travel of the machine body.

When the target grading device movement is a lifting of the movable grading device. The first control pattern actuates the left lift actuator and the right lift actuator simultaneously. The second control pattern actuates one or more of the drive arrangement, the left lift actuator, the right lift actuator, the pitch actuator, the circle member side shift actuator, and the grading device side shift actuator to lift the left reference point and the right reference point.

In a second embodiment, the control system is configured to receive an input command from the user interface for a target grading device movement and extend or retract one or more of the right lift actuator, the left lift actuator, the side shift actuator, and the drive arrangement automatically in a timed relationship to achieve the target grading device movement.

A method of controlling a movable grading device for a grading machine is disclosed, wherein the grading machine has a machine body and a drawbar frame coupled to the grading machine. In a first step, the method includes receiving an operator input command from a user input interface for movement of the movable grading device. In a next step, a current angle of the movable grading device relative to the machine body or the machine body travel path is identified. Then, a difference between the current angle and a commanded angle, the commanded angle based on the operator input command for a target grading device movement. Next, a target grading device movement by the controller is actuated wherein extending or retracting actuators coupled to the movable grading device and the machine body in a timed relationship to achieve the target grading device movement to the commanded angle using a first control pattern or a second control pattern. The first control pattern moves the movable grading device with the input command for each actuator, and the second control pattern moves the movable grading device with the input command for at last one actuator and a computation of automatically adjusting at least one other actuator while maintaining a point on the movable grading device stationary relative to the machine body or the ground surface.

Other features and aspects of the disclosure will become apparent by consideration of the following detailed description and accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a side view of an embodiment of a grading machine;

FIG. 2 is a perspective view of a circle drawbar assembly according to one embodiment;

FIG. 3 is a front view of the grading machine shown in FIG. 1 ;

FIG. 4 is a schematic of the control system for intelligent grade control on a grading machine according to a first embodiment;

FIG. 5 illustrates a first and a second embodiment of a reference framework for movement of the movable grading device;

FIG. 6A illustrates achieving a target grading device movement of side shifting according to a first embodiment of using the first control pattern;

FIG. 6B illustrates a target grading device movement for side-shifting a movable grading device according to another embodiment of using the first control pattern;

FIG. 6C illustrates a front view of the target grading device movement for side-shifting a movable grading device using the second control pattern;

FIG. 7 illustrates a front view of the target grading device movement for rolling a movable grading device using the second control pattern;

FIG. 8A illustrates achieving a target grading device movement of roll according to a first control pattern;

FIG. 8B illustrates achieving a target grading device movement of roll according to a second control pattern;

FIG. 9 illustrates a target grading device movement of pitching a movable grading device according to a second control pattern;

FIG. 10 illustrates a target grading device movement of the movable grading device in the direction of yaw according to a second control pattern;

FIG. 11 illustrates a top view of a grading machine; and

FIG. 12 illustrates a method of controlling a movable grading device of a grading machine.

Before any embodiments are explained in detail, it is to be understood that the disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the following drawings. The disclosure is capable of supporting other embodiments and of being practiced or of being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting.

DETAILED DESCRIPTION

As used herein, unless otherwise limited or modified, lists with elements that are separated by conjunctive terms (e.g., “and”) and that are also preceded by the phrase “one or more of” or “at least one of” indicate configurations or arrangements that potentially include individual elements of the list, or any combination thereof. For example, “at least one of A, B, and C” or “one or more of A, B, and C” indicates the possibilities of only A, only B, only C, or any combination of two or more of A, B, and C (e.g., A and B; B and C; A and C; or A, B, and C).

As used herein, the term “controller” is a computing device including a processor and a memory. The “controller” may be a single device or alternatively multiple devices. The controller may further refer to any hardware, software, firmware, electronic control component, processing logic, processing device, individually or in any combination, including without limitation: application specific integrated circuit (ASIC), an electronic circuit, a processor (shared, dedicated, or group) and memory that executes one or more software or firmware programs, a combinational logic circuit, and/or other suitable components that provide the described functionality.

The term “processor” is described and shown as a single processor. However, two or more processors can be used according to particular needs, desires, or particular implementations of the controller and the described functionality. The processor may be a component of the controller, a portion of the object detector, or alternatively a part of another device. Generally, the processor can execute instructions and can manipulate data to perform the operations of the controller, including operations using algorithms, methods, functions, processes, flows, and procedures as described in the present disclosure.

FIG. 1 illustrates an exemplary embodiment of a grading machine 100, such as a motor grader. An example of a motor grader is a 772G Motor Grader manufactured and sold by Deere & Company. As shown in FIG. 1 , the motor grader includes a machine body 101 having a front and rear frame, 102 and 104 respectively, with the front frame 102 being supported on a pair of front wheels 106, and with the rear frame 104 being supported on right and left tandem sets of rear wheels 108. An operator cab 110 is mounted on an upwardly and forwardly inclined rear region 112 of the front frame 102 and contains various controls for the motor grader 100. The operator cab 110 is optional and the grading machine 100 may, alternatively, be operated from a control station remotely. A power source 118, such as an engine for example, is mounted on the rear frame 104 and supplies power for all driven components of the motor grader 100. The power source 118, for example, can be configured to drive a transmission, which is coupled for driving the rear wheels 108 at various selected speeds and either in forward or reverse modes. A hydrostatic front wheel assist may be selectively engaged to power the front wheels 106, in a manner known in the art.

Mounted to the front location of front frame 102 is a drawbar frame 120, having a forward end universally coupled to the front frame 102 as a ball and socket arrangement 122, and having an opposite right and left rear regions suspended from an elevated central section 124 of the front frame 102 by right and left lift link linkage arrangements (144, 146) including right and left extensible and retractable hydraulic actuators 126 and 128 (shown in FIG. 3 ), respectively. A side shift linkage arrangement 130 is coupled between the elevated frame section 124 and a rear location of the drawbar frame 120 and includes an extensible and retractable circle member side shift actuator 129. A movable grading device 132, such as a blade, is coupled to the front frame 102 and controlled by a circle drawbar assembly 200.

Referring to FIG. 2 , an exemplary embodiment of a circle drawbar assembly 200 for a motor grader 100 is shown. The circle drawbar assembly 200 may comprise of the drawbar frame 120; a circle member 202 coupled to the drawbar frame 120 with the circle member 202 for rotation thereof about the circle axis 204. The circle member 202 may further comprise a substantially C-shaped structure, or pitch frame, 242 at a connection point to allow a motor grader 100 to pitch the movable grading device 132. The movable grading device 132 may be directly coupled to the substantially C-shaped structure 242. The drawbar frame 120 may further comprise a generally V-shaped portion 262 and a cross-member 238 coupling the two free ends of the V-shaped portion 262 of the drawbar frame 120.

In one embodiment, the drive arrangement 206 may include a series of bearings coupled to the drawbar frame 120 and a series of gear teeth disposed to the exterior or interior of the circle member 202. The gear teeth cooperate with one or more drive gears associated with drive motors attached to the drawbar frame 120 to rotate the circle member 202 about the circle axis 204. In other conventional grading machines, a worm driven gear box can be mounted to the drawbar frame which rotates the pinion gears which mesh with the large ring gear of the circle member. Although this may be one form of a circle drawbar assembly 200, other alternative drive arrangement 206 configurations enabling the circle member 202 to rotate about a circle axis 204 are available, as known by a person of skill in the art and are not described in detail here.

Now also referring to FIGS. 1 and 3 , a right lift linkage arrangement 144 coupled to the drawbar frame 120 is used for lifting a right portion of the drawbar frame 120 with a right lift actuator 126. A left lift linkage arrangement 146 coupled to the drawbar frame 120 for lifting a left portion of the drawbar frame 120 with a left linkage actuator 128. A circle member side shift linkage arrangement 130 is coupled to the drawbar frame 120 for side shifting the drawbar frame 120 with a circle member side shift actuator 210. A pitch actuator 150 is coupled to a top portion of the movable grading device 132. A grading device side shift actuator 212 is coupled to a back portion of the movable grading device 132 to move the grading device in a direction parallel to the bottom edge 530 of the grading device.

These actuators (126, 128, 129, 150, 206, 212) are coupled to the movable grading device 132 and controllably drive movement of the movable grading device 132 to engage material to be graded. The grading machine 100 is often operated by an operator. However, in some instances, the grading machine 100 may operate at different levels of autonomy as known in the art. The operator utilizes a user interface 135 to operate the grading machine 100. The user interface 135 may comprise physical mechanisms (e.g., levers, pedals, etc.), displays, touchscreens, software interfaces, etc. to allow the operator to control various controllable subsystems 145 (shown in FIG. 4 ) on the grading machine 100. Some examples of subsystems 145 on a grading machine are the grading device 132, steering/propulsion system, ripper, etc. To aid in operation of the grading machine 100 there may be different types of sensors to monitor various aspects of operation. Some examples of sensors include visual sensors, hydraulic strain gauges, pressure gauges, linear displacement transducers, hall effect sensors, potentiometers, odometers, fuel gages, GPS receivers, compasses, gyroscopes, accelerometers, etc.

FIG. 4 is a block diagram of one example of a grade control system 400 of a grading machine 100. The system 400 comprises sensors, processors, machine control systems, user interface mechanism(s), controllable subsystems, datastore, and other elements as well. Controllable subsystems 145 include the movable grading device 132, steering/propulsion 160, and other possible systems indicated by the blocks. The actuators that control the functions of controllable subsystems 145 may be controlled by signals from the control system 400. For example, movable grading device logic 116 generates control signals for the actuators (126, 128, 129, 150, 206, 212) that move the grading device 132. Some examples of the movable grading device logic 116 include signals that control the actuator to raise or lower the blade, tilt the blade or angle the blade, etc. Grading machines such as the motor grader shown further include a rotating blade. Propulsion logic 161 generates control signals to control actuators corresponding to steering/propulsions systems 160. Some examples of control signals generated by propulsion logic 161 include signals that control actuators 120 for steering propulsion 160 to move the grading machine 100 forward or backward, turn or rotate the machine, etc. The grading machine 100 can include several different sensors, including blade height sensor, surface sensors, image sensors, and others. The system 400 may also outline use of inputs from a vision system (which may include an image sensor 123) or an IMU 125 coupled to the grading machine 100 for tracking a change in grade 415 and controlling the orientation of the movable grading device 132.

In one embodiment, the control system 405 may be configured to receive an input command from the user interface 135 for a target grading device movement 415 and cause extension or retraction of one or more of the right lift linkage actuator 126, the left lift linkage actuator 128, the circle member side shift linkage actuator 129, the drive arrangement 206 and the grading device side shift actuator 212 in a timed relationship to achieve the target grading device movement 415 using either a first control pattern 550 or a second control pattern 650.

In one embodiment, the first control pattern 550 may be performed with an input command 138 for each actuator (126, 128, 129, 150, 206, 212) individually causing movement of the movable grading device 132 with their respective input commands 138, and the second control pattern 650 may be performed with the input command 138 for at least one actuator (126, 128, 129, 150, 206, 212) and a computation of automatically adjusting at least one other actuator (126, 128, 129, 150, 206, 212) to achieve the target grading device movement 415.

In an alternative embodiment, the control system 400 may be configured with a single control pattern to receive an input command from the user interface 135 for a target grading device movement 415 and extend or retract one or more of the right lift actuator 126, the left lift actuator 128, the circle member side shift actuator 129, the drive arrangement 206, and the grading device side shift actuator 212 automatically in a timed relationship to achieve the target grading device movement 415. The system 400 advantageously takes an input command 138 from the operator and translates it into the precise intent of movement by compensating for discrepancies introduced from the linkage kinematics of the grading machine 100.

Two reference frameworks 500 are shown in FIG. 5 . In a first embodiment of the reference framework 500, movement is performed to the movable grading device 132 (shown here as a blade) including a top portion 502, a lower portion 504, a left reference point 516 in a left portion 506 and a right reference point 518 in a right portion 508. The left reference point 516 and the right reference point 518 are symmetric about a central vertical axis 510 of the blade 132. Although reference points (516, 518) in this embodiment are shown to be located at the lower corners of the blade, alternative embodiments may include other pairs of points on the blade symmetric about the central axis 510.

In a second embodiment of a reference framework, movement is performed to the blade 132 defined by a y-axis 520 along a bottom edge 530 of the blade (shown in the dotted line), a z-axis 524 perpendicular to the y-axis 520 in a top-bottom direction, and an x-axis 522 transverse to both the y-axis 520 and the x-axis 522. Roll 532 is rotation about the x-axis. Pitch 534 is rotation about the y-axis. Yaw 536 is rotation about the z-axis. A point (516, 518) can move in three directions. Shift 610 can be defined as moving the blade in a left/right direction along the y-axis. Rotating the blade can be defined as moving the blade in a clockwise/counterclockwise direction about an axis parallel to the z-axis 524. Lifting 170 the blade can be in an up down direction.

FIGS. 6A and 6B illustrate two approaches of achieving a target grading device movement of side shifting the blade 132 using a first control pattern 550. In FIG. 6A, the control system 405 causes movement of the blade along a cross slope 605 connecting the left reference point 516 and the right reference point 518. In FIG. 6B, the control system 405 causes movement of the blade 132 wherein the blade moves along the lower edge 530 of the blade defining a cross slope 605.

FIG. 6C illustrates movement using the second control pattern. Here, the control system 405 moves the blade 132 lateral relative to the machine body 101 while maintaining the cross slope 605, and the height of the left reference point 516 and the right reference point 518 relative to the ground surface 105. That is, if the blade is off the desired angle because of movement along the cross slope 605, one or more actuators may restore the blade 132 to its original height with respect to one or more of the ground surface 105 or the machine body 101. This may include rotating the circle member 202 to retain the yaw 536 of the blade 132 relative to the machine body 101; adjusting one or more of the left lift actuator 128 and the right lift actuator; and actuating the pitch actuator 150.

FIG. 7 illustrates a target grading device movement 415 of the blade 132 in the direction of roll 532. In an exemplary scenario of rolling in one direction, in a first control pattern 550 the control system 405 actuates left lift actuator 128 while maintaining the right lift actuator 126 stationary. Another alternative movement in the first control pattern is 550 rolling 532 b about the x-axis 550 wherein the x-axis is centrally located on the blade. This form of movement causes a reference point (516, 518) to shift its height relative to the main body 101 during roll. Alternatively, in the second control pattern 650, the control system 405 actuates the left lift actuator 128 while maintaining the right reference point 518 at a same height relative to the machine body 101 or ground surface 105 to achieve the target grading device movement 415. In the second control 650 pattern exemplary scenario, a combination of actuating the blade lift cylinders (126, 128) and circle member side shift actuator 129 adjust to change the cross slope 605 of the blade 132 while maintaining a lower corner 802 of the cutting-edge stationary 530. This advantageously translates the intent of target grading device movement 415 without relying on operator expertise to compensate for shifts outside of the intent.

FIGS. 8 a and 8 b illustrate a target grading device movement 415 of the blade 132 in the direction of lift 170. In a first control pattern shown in FIG. 8A, the control system 400 actuates the left lift actuator 128 and the right lift actuator 126 simultaneously. In a second control pattern shown in FIG. 4B, the control system 400 actuates the left lift actuator 128 and the right lift actuator 126 and additionally actuates one or more of the drive arrangement 206, the left lift actuator 128, the right lift actuator 126, the pitch actuator 150, the grading device actuator 212 and the circle member side shift actuator 129 to coordinate lifting of the left reference point 516 and the right reference points 518 simultaneously.

FIG. 9 illustrates a target grading device movement 415 of the blade 132 in the direction of pitch 534, or tilt 170, according to the reference frames 500. In a first control pattern 550, the control system 405 merely actuates the pitch actuator 150 (shown in FIG. 1 ). In a second control pattern 650, shown in FIG. 9 , the control system 405 actuates one or more of the drive arrangement 206, the left lift actuator 128, the right lift actuator 126, the pitch actuator 150, the grading device side shift actuator 212 and the circle member side shift actuator 129 while the lower edge of the blade 530 remains stationary relative to the machine body 101. The second control pattern 650 can alternatively be described as having the target grading device movement 415 in a direction of pitch 534 for the second reference frame 500, wherein the pitch actuator 150 actuates while maintaining a height of the lower left corner 802 and the lower right corner 802 the same relative to the machine body 101.

FIG. 10 illustrates a target grading device movement 415 of the blade 132 in the direction of yaw 536 according to the first reference frame. The first control pattern (not shown) actuates the drive arrangement 206, with rotating the circle member 202 about the circle axis 204. Alternatively, as shown in FIG. 10 , the second control pattern 650 actuates one or more of the drive arrangement 206, the left lift actuator 128, the right lift actuator 126, the pitch actuator 150 and the circle member side shift actuator 129, and the grading device side shift actuator 212 thereby rotating the blade 132 about a central axis 510 of the blade 132. The second control pattern 650 maintains rotates the blade 132 while maintaining a height of the left reference point 516 and the right reference point 518 relative to one or more of the ground surface 105 and the machine body 101. That is, the blade 132 rotates while maintain the cross slope 605 of the blade 132.

FIG. 11 illustrates a top view of the grading machine 100 shown in FIG. 1 . The first control pattern 550 actuates movement of the blade 132 relative to the machine body 101 and the second control pattern 650 actuates movement of the blade 132 relative to a direction of travel or along a travel path 810 of the machine body 101.

Now turning to FIG. 12 , a method of controlling a movable grading device 132 of a grading machine 100 having a machine body 101 and a drawbar frame 120 coupled to the machine body is disclosed. In a first step 900, the method includes receiving an operator input command from a user input interface for movement of the movable grading device. In a next step 910, the method includes identify a current angle of the movable grading device 132 relative to the machine body 101 or the machine body travel path 810. In step 920, a difference between the current angle and the commanded angle is determined wherein the commanded angle is based on an operator input command. As shown in FIG. 4 , the angle may be measured using various actuator sensors 127. Actuator sensors 127 may be configured to measure movement of one or more components of the grading machine 100 (e.g., saddle linkage) in used thereof. This may include one or more indicators of a relative position of a component as it relates to the machine body, e.g. Alternatively, the actuator sensors 127 may measure operational characteristics of the drawframe and the grading device. The actuator sensors may be any device capable of measuring roll, pitch, and/or yaw of the grading device from a reference position/point/orientation, indicating a measured movement. If the actuators are double acting hydraulic cylinders or linear actuators, the actuator sensors may measure movement of each respective actuator. The actuator sensor may measure the length and/or movement to measure a positional state. The actuator sensors may each be embodied as, or otherwise included as any device capable of measuring one or more lengths of the corresponding actuator and provide sensor input indicative of the one or more measured lengths. It should be appreciated that actuators may be embodied as other suitable type actuators.

Next in steps 930 a and 930 b movement of the movable grading device is actuated. This includes extending or retracting actuators (126, 128, 129, 150, 206, 212) coupled to the movable grading device 132 and the machine body 101 in a timed relationship to achieve the target grading device movement 415 using a first control pattern 550 or a second control pattern 650. The first control pattern 550 includes moving the movable grading device with operator input command for each actuator. The second control pattern includes moving the movable grading device with the operator input command for at least one actuator and an automatic adjustment of at least one other actuator based on a computation, the computation including adjustment of at least one other actuator to maintain a point on the movable grading device stationary relative to the machine body or the ground surface once moved to a commanded angle as indicated by the target grading device movement. moves the movable grading device 415 in a manual mode. The second control pattern 650 moves the grading element 132 automatically while maintaining a point (e.g., 516 or 518) on the movable grading device 132 stationary relative to the machine body 101 or the ground surface 105. 

What is claimed is:
 1. A grading machine for grading a ground surface comprising: a machine body; a drawbar frame coupled to the machine body; a circle member coupled to the drawbar frame; a pitch frame coupled to the circle member; a movable grading device coupled to the pitch frame, the movable grading device including a top portion, a lower portion, a left reference point in a left portion and a right reference point in a right portion; a drive arrangement coupled to the drawbar frame and the circle member for rotation thereof about a circle axis; a right lift linkage arrangement coupled to the drawbar frame for lifting the right portion of the drawbar frame with a right lift actuator; a left lift linkage arrangement coupled to the drawbar frame for lifting the left portion of the drawbar frame with a left lift actuator; a circle member side shift linkage arrangement coupled to the drawbar frame for side shifting the drawbar frame with a circle member side shift actuator; a grading device side shift actuator; a pitch actuator coupled to the top portion of the movable grading device; a user interface; and a control system configured to receive an input command from the user interface for a target grading device movement and extend or retract one or more of a right lift actuator, a left lift actuator, a circle member side shift actuator, a grading device side shift actuator and the drive arrangement in a timed relationship to achieve the target grading device movement using a first control pattern or a second control pattern.
 2. The grading machine of claim 1 wherein the first control pattern is performed with the input command for each actuator and the second control pattern is performed with the input command for at least one actuator and a computation of automatically adjusting at least one other actuator to achieve the target grading device movement.
 3. The grading machine of claim 1 wherein the target grading device movement is a side shifting of the movable grading device; the first control pattern actuating movement of the movable grading device along a cross slope connecting the left reference point and the right reference point by actuating the grading device side shift actuator; and the second control pattern actuating movement of the movable grading device lateral relative to the machine body while maintaining the cross slope, and a height of the left reference point and the right reference point relative to the ground surface.
 4. The grading machine of claim 1, wherein the target grading device movement is a side shifting of the movable grading device; the first control pattern actuating movement of the movable grading device along a lower edge of the movable grading device, the lower edge of the movable grading device defining a cross slope; and the second control pattern actuating movement of the movable grading device lateral relative to the machine body while maintaining a height of the left reference point and the right reference point relative to the ground surface.
 5. The grading machine of claim 1, wherein the target grading device movement of the movable grading device is in a direction of roll; the first control pattern actuating the left lift actuator while maintaining the right lift actuator stationary; and the second control pattern actuating the left lift actuator while maintaining the right reference point at a same height relative to the machine body to achieve the target grading device movement.
 6. The grading machine of claim 1, wherein the target grading device movement of the movable grading device is in a direction of pitch; the first control pattern actuating the pitch actuator; and the second control pattern actuating one or more of the drive arrangement, the left lift actuator, the right lift actuator, the pitch actuator, the circle member side shift actuator, and the grading device side shift actuator while a lower edge of the movable grading device remains stationary relative to the machine body.
 7. The grading machine of claim 1, wherein the target grading device movement of the movable grading device is in a direction of yaw; the first control pattern actuating the drive arrangement to rotate the circle member about the circle axis; and the second control pattern actuating one or more of the drive arrangement, the left lift actuator, the right lift actuator, the pitch actuator and the circle member side shift actuator to rotate the movable grading device about a central axis of the movable grading device.
 8. The grading machine of claim 1, wherein the first control pattern actuates movement of the movable grading device relative to the machine body and the second control pattern actuates movement relative to a direction of travel of the machine body.
 9. The grading machine of claim 1 wherein the target grading device movement is a lifting of the movable grading device; wherein the first control pattern actuates the left lift actuator and the right lift actuator simultaneously; and the second control pattern actuates one or more of the drive arrangement, the left lift actuator, the right lift actuator, the pitch actuator and the circle member side shift actuator to lift the left reference point and the right reference point.
 10. A grading machine for grading a ground surface comprising: a machine body; a drawbar frame coupled to the machine body; a circle member coupled to the drawbar frame; a pitch frame coupled to the circle member; a movable grading device coupled to the drawbar frame, the movable grading device defining a y-axis along a bottom edge of the movable grading device, a z-axis centered on the movable grading device and perpendicular to the y-axis in a top-bottom direction, and an x-axis transverse to both the y-axis and the z-axis; a drive arrangement coupled to the drawbar frame and the circle member for rotation thereof about a circle axis; a right lift linkage arrangement coupled to the drawbar frame for lifting a right portion of the drawbar frame with a right lift actuator; a left lift linkage arrangement coupled to the drawbar frame for lifting a left portion of the drawbar frame with a left lift actuator; a circle member side shift linkage arrangement coupled to the drawbar frame for side shifting the drawbar frame in a y-direction with a circle member side shift actuator; a grading device side shift actuator; a pitch actuator coupled to a top portion of the movable grading device; a user interface; and a control system configured to receive an input command from the user interface for a target grading device movement and extend or retract one or more of a right lift actuator, a left lift actuator, a circle member side shift actuator, a grading device side shift actuator and the drive arrangement automatically in a timed relationship to achieve the target grading device movement.
 11. The grading machine of claim 10, wherein the target grading device movement is a side shifting of the movable grading device; wherein side-shifting actuates one or more of the right lift actuator, the left lift actuator, the circle member side shift actuator, the grading device side shift actuator and the drive arrangement for moving the movable grading device along the y-axis while maintaining a central portion of the movable grading device in its position along the z-axis relative to the machine body.
 12. The grading machine of claim 10, wherein the target grading device movement is in a direction of roll of the movable grading device about the x-axis, the x-axis centrally located on the movable grading device; and actuating one or more of the right lift actuator, the left lift actuator, the circle member side shift actuator, the grading device side shift actuator, and the drive arrangement while maintaining a lower corner of the bottom edge stationary relative to the machine body.
 13. The grading machine of claim 10, wherein the target grading device movement of the movable grading device is in a direction of pitch; and actuates the pitch actuator while maintaining a height of the bottom edge of the movable grading device the same relative to the machine body.
 14. The grading machine of claim 10, wherein the target grading device movement of the movable grading device is in a direction of yaw; and the actuates the drive arrangement while maintaining a rotation about a central axis of the movable grading device.
 15. A method of controlling a movable grading device of a grading machine, the grading machine having a machine body and a drawbar frame coupled to the machine body, the method comprising: receiving an operator input command from a user input interface for movement of the movable grading device; identifying a current angle of the movable grading device by the controller relative to the machine body or the machine body travel path; computing a difference between the current angle and a commanded angle, the commanded angle based on the operator input command for a target grading device movement; actuating movement of the movable grading device with a controller by extending or retracting one or more actuators coupled to the movable grading device and the machine body in a timed relationship to achieve the grading device movement to the commanded angle using a first control pattern or a second control pattern, wherein the first control pattern includes moving the movable grading device with operator input command for each actuator, and the second control pattern includes moving the movable grading device with the operator input command for at least one actuator and an automatic adjustment of at least one other actuator based on a computation, the computation including adjustment of at least one other actuator to maintain a point on the movable grading device stationary relative to the machine body or the ground surface once moved to the commanded angle.
 16. The method of claim 15 wherein the actuators comprise one or more of a drive arrangement to rotate the circle member about a circle axis, a right lift actuator, a left lift actuator, a circle member side shift actuator, a grading device side shift actuator and a pitch actuator.
 17. The method of claim 16 wherein the operator input command is a side shifting of the movable grading device; the first control pattern moving the movable grading device along a lower edge of the movable grading device through actuating a grading device side shift actuator; and the second control pattern moving the movable grading device lateral relative to the machine body or the machine body travel path while maintaining the height of the point stationary.
 18. The method of claim 16 wherein the operator input command is a rolling of the movable grading device about an x-axis extending in a fore-aft direction of the movable grading device, the first control pattern actuating the right lift actuator and the left lift actuator to rotate about the x-axis; and the second control pattern actuating one or more of the right lift actuator, the left lift actuator, the circle member side shift actuator, the grading device side shift actuator and the drive arrangement while maintaining a lower corner of a bottom edge of the movable grading device stationary.
 19. The method of claim 16 wherein the target grading device movement of the movable grading device is in the direction of pitch; the first control pattern actuating the pitch actuator; and the second control pattern moving the actuator while maintaining a height of the lower left corner and the lower right corner relative stationary.
 20. The method of claim 16, wherein the target grading device movement of the movable grading device is in the direction of yaw; the first control pattern actuating the drive arrangement thereby moving a circle member about a circle axis; and the second control pattern actuating movement of the movable grading device to rotate about the central axis of the movable grading device. 